This paper addresses the kinematic structure and workspace analysis of a parallel manipulator with linear actuators considering two studies.The first one was based on a morphological synthesis in which a kinematic connections approach was implemented. The set of combinations of joints and links for the desired system and their linkage are illustrated. Finally, the development regarding the conceivable morphologyis detailed, providing three linear degrees of freedom between the mobile and fixed platforms. The second study presented the dimensional synthesis of the manipulator, considering a workspace required and an input transmission index. The geometrical design was based on the maximum inscribed workspace volume; the cylindrical shape radius inscribed on a workspace intersection is also exemplified. The geometric determination of the workspace for the manipulator was demonstrated using computer-aided design. A design result of the Delta as checked with the stiffness and condition indices.
Informal settlement fires have been recognized as a global problem, affecting thousands of people annually and representing an extensive risk for millions. Informal settlements are characterized by poor infrastructure, lack of access to vital services, and flammable construction materials. This paper presents a simplified numerical simulation of a Colombian informal dwelling built with Guadua. The temperature and heat flux results are compared with respect to an informal timber dwelling. A sensitivity analysis of the mesh, computational domain, and burner configuration is performed. The results show that the properties of Guadua reduce the flashover growth rate, the heat fluxes at the door and window, and the maximum temperature of the enclosure compared to a timber dwelling. These results provide an opportunity to understand Colombia's informal dwelling fire damage and could afford to develop security strategies in the most critical areas.
La Universidad Tecnológica de Pereira a través de la Vicerrectoría de Investigaciones, Innovación y Extensión tiene como propósito “Definir y direccionar los lineamientos para la investigación institucional que fortalezcan los grupos y semilleros de investigación, a través de la formación de investigadores, el desarrollo de programas o proyectos de ciencia, tecnología e innovación, así como la generación de redes y alianzas estratégicas que contribuyan a la creación y apropiación del conocimiento para la sociedad.” Y es por ello que, anualmente se realiza la CONVOCATORIA PARA FOMENTAR LA PUBLICACIÓN DE CAPÍTULOS DE LIBRO RESULTADO DE INVESTIGACIÓN - GRUPOS DE INVESTIGACIÓN, en la cual pueden postular los resultados de los proyectos de investigación finalizados en los últimos cinco años. En esta oportunidad, se publicarán capítulos de cuatro Facultades: Ciencias de la Educación, Bellas Artes y Humanidades, Tecnología y Ciencias Empresariales, en los cuales se darán a conocer los resultados obtenidos en proyectos de investigación realizados por sus grupos en diferentes temáticas.
This work presents the kinetics and kinematics analysis for delta-3 parallel manipulator. Kinematics and Kinetics validation was performed with a virtual prototype cosimulation using Solidworks and Labview and considering experimental data from physical prototype testing. In respect to the same testing path, comparisons of kinematics results from physical prototype against data of both virtual prototype and theoretical model, corroborate that positions of mobile platform have similar values in respect to the global coordinate system. On the other hand, actuator torques of theoretical model and virtual prototype reported conservative behaviors, whereas the torque of the physical prototype presents lower requirements under the same conditions. Work in unison of these computational tools allows a coherent study of mechanical systems and a direct comparison of the theoretical model, physical prototype and virtual prototype.
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